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下載積分: 6 賞幣
上傳時(shí)間:2024-03-12
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大小: 4.62(MB)
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簡(jiǎn)介:“浙江制造”認(rèn)證實(shí)施細(xì)則編號(hào)ZJM00843912017商用或工業(yè)用及類(lèi)似用途商用或工業(yè)用及類(lèi)似用途空氣熱泵熱水機(jī)空氣熱泵熱水機(jī)20171116發(fā)布20171116實(shí)施浙江制造國(guó)際認(rèn)證聯(lián)盟發(fā)布2511511證書(shū)有效性的保持證書(shū)有效性的保持12512512認(rèn)證變更認(rèn)證變更12513513證書(shū)的暫停、撤銷(xiāo)、注銷(xiāo)證書(shū)的暫停、撤銷(xiāo)、注銷(xiāo)13514514認(rèn)證范圍的擴(kuò)展、擴(kuò)大認(rèn)證范圍的擴(kuò)展、擴(kuò)大135252認(rèn)證標(biāo)志認(rèn)證標(biāo)志135353證書(shū)和標(biāo)志的使用證書(shū)和標(biāo)志的使用146認(rèn)證收費(fèi)認(rèn)證收費(fèi)14附錄附錄1產(chǎn)品描述產(chǎn)品描述15機(jī)組的型號(hào)表示方法示例機(jī)組的型號(hào)表示方法示例15附錄附錄2自我聲明自我聲明17
下載積分: 6 賞幣
上傳時(shí)間:2024-03-12
頁(yè)數(shù): 18
大?。?0.26(MB)
子文件數(shù):
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簡(jiǎn)介:INTERNATIONALJOURNALOFPRECISIONENGINEERINGMANUFACTURINGVOL11NO5PP697704OCTOBER2010697DOI101007S12541010008241INTRODUCTIONAMOBILEMANIPULATTHATCONSISTSOFAMOBILEBASEAROBOTICMANIPULATPROVIDESNUMEROUSADVANTAGESOVERAFIXEDBASEMANIPULATTHEMOSTIMPTANTADVANTAGEOFTHEMOBILEMANIPULATISITSFLEXIBLEWKSPACEALSOTHEMECHANICALCONFIGURATIONOFTHEROBOTICMANIPULATMOUNTEDONTHEMOBILEBASERESULTSINAREDUNDANTSYSTEMTHATISADVANTAGEOUSFDEXTEROUSMANIPULATION26WHILETHESEFEATURESENABLEVARIOUSAPPLICATIONSCONTROLOFTHEMOBILEMANIPULATISCHALLENGINGDUETOITSINTRINSICSTRUCTUREFIRSTTHEREDUNDANTDOFSOFTHEMOBILEMANIPULATCOMPLICATEMANIPULATIONCONTROLSECONDTHEOVERALLDYNAMICSOFTHEMOBILEMANIPULATISFARMECOMPLEXCOMPAREDTOFIXEDBASEMANIPULATSTHIRDMANYAPPLICATIONSINVOLVEDYNAMICINTERACTIONOFTHEMANIPULATWITHITSENVIRONMENTMOBILEMANIPULATIONINHUMANPOPULATEDENVIRONMENTSBRINGSTHEISSUEOFSAFETYTOTHEFEFRONTTHEREHAVEBEENANUMBEROFSTUDIESONMOBILEMANIPULATIONYAMAMOTOPROPOSEDKINEMATICDYNAMICMANIPULABILITYTORESOLVETHEREDUNDANCYINMOTIONPLANNINGANALYSISFMOBILEMANIPULAT1KHATIB23INTRODUCEDPOTENTIALFIELDINCONTROLLINGPOSITIONOFREDUNDANTMANIPULATSPROVIDINGJOINTLIMITCONSTRAINTSALSOHEPROPOSEDANOVELAPPROACHTOUTILIZETHEINTRINSICDYNAMICSACTERISTICSOFMOBILEMANIPULATINOPERATIONALSPACE23ADDITIONALLYHEANALYZEDTHEREDUCEDINERTIAEFFECTOFREDUNDANTROBOTICARMWITHMACROMICROSTRUCTUREINOTHERSTUDIESONMOBILEMANIPULATIONZMPZEROMOMENTPOINTWASPROPOSEDASAMEASUREFMOBILEMANIPULATSYSTEMSPERFMINGHEAVYLOADTRANSFERRINGTASKS45THEREHAVEBEENSTUDIESONTHESTABLEMOTIONCONTROLOFAMOBILEMANIPULATUNDERUNKNOWNEXTERNALFCEAPPLICATIONFROMTHEENVIRONMENT67MANYOFTHESTUDIESMENTIONEDABOVEADAPTEDTHEIDEAOFCONVENTIONALFIXEDBASEDMECHANISMSTOMOBILEMANIPULATSTHEREARESEVERALISSUESTOCONSIDERINMOBILEMANIPULATCONTROLFIRSTTHEMOBILEBASEPARTOFTHEMOBILEMANIPULATISHEAVIERTHANTHEUPPERROBOTICMANIPULATPARTWHICHLEADSSLOWERDYNAMICRESPONSEOFTHEMOBILEBASECOMPAREDWITHTHATOFTHEMANIPULATPARTTHEOVERALLDYNAMICSOFTHEMOBILEMANIPULATISSOMEWHATANALOGOUSTOTHATOFMACROMICROMANIPULATSTHEMACROPARTISMUCHHEAVIERTHANTHEMICROPART23SECONDTHECONTROLOFIMPULSIVECONTACTFCEBETWEENMOBILEMANIPULATENVIRONMENTUSINGEFFECTIVEMASSDAMPINGCONTROLSSUNGCHULKANG1KIYOSHIKOMIYA2KAZUHITOYOKOI2TETSUOKOUTOKU2BYUNGCHANKIM1SHINSUKPARK31CENTERFCOGNITIVEROBOTICSRESEARCHKISTHAWOLGOKDONGSEONGBUKGUSEOULSOUTHKEA1367912INTELLIGENCESYSTEMSRESEARCHINSTITUTEAISTTSUKUBAIBARAKIJAPAN30585683SCHOOLOFMECHANICALENGINEERINGKEAUNIVERSITYANAMDONG5GASEONGBUKGUSEOULSOUTHKEA136713CRESPONDINGAUTHEMAILTEL82232903868FAX8229269290KEYWDSMOBILEMANIPULATIONEFFECTIVEINERTIAKINEMATICREDUNDANCYNULLSPACEMOTIONRECENTLYMOBILEMANIPULATSAREBEINGWIDELYEMPLOYEDFVARIOUSSERVICEROBOTSINHUMANENVIRONMENTSSAFETYISTHEMOSTIMPTANTREQUIREMENTFTHEOPERATIONOFMOBILEROBOTINAHUMANPOPULATEDENVIRONMENTINDEEDSAFEHUMANMACHINEINTERACTIONISONEOFGRCHALLENGESINROBOTICSRESEARCHTHISPAPERPROPOSESANOVELCONTROLMETHODTOREDUCEIMPULSIVECOMPACTFCEBETWEENAMOBILEMANIPULATITSENVIRONMENTBYUSINGOPTIMIZEDMANIPULATINERTIADAMPINGBASEDMOTIONCONTROLTOFINDTHEOPTIMIZEDCONFIGURATIONTHROUGHNULLSPACEMOTIONTHECOMBINEDPOTENTIALFUNCTIONMETHODISPROPOSEDCONSIDERINGBOTHTHEMINIMUMEFFECTIVEMASSJOINTLIMITCONSTRAINTSTHERESULTSOFTHISSTUDYSHOWTHATTHEINERTIAOPTIMIZATIONALONGWITHADAMPINGCONTROLLERSIGNIFICANTLYREDUCESTHEIMPULSIVEFCEUPONCOLLISIONTHECONTACTFCEAFTERCOLLISIONMANURECEIVEDJANUARY62009ACCEPTEDJULY262010KSPESPRINGER2010INTERNATIONALJOURNALOFPRECISIONENGINEERINGMANUFACTURINGVOL11NO5OCTOBER2010699TABLE1DHPARAMETERSLINKMASSOFM3MOBILEMANIPULATJOINT1IΑRAD1IAM1IΘRAD1IDMJOINTTYPEMASSKG12Π000P900122Π02Π0P300Π7R42Π000R78152Π000R34162Π00045R11872Π000R74582Π0005R26492Π000R14610000008R024PPRISMATICRREVOLUTE21EFFECTIVEMASSOFMOBILEMANIPULATFAMOBILEMANIPULATTHEINERTIALPROPERTIESINJOINTSPACEAREDESCRIBEDBYKIICENERGYMATRIXAQWHICHISAMATRIXFUNCTIONOFJOINTVARIABLESQWHENTHEDYNAMICRESPONSEIMPACTFCEATTHEENDEFFECTISOFINTERESTTHEINERTIALPROPERTIESCANBEEVALUATEDATTHEENDEFFECTWHICHISREPRESENTEDBYKIICENERGYMATRIXAQINCARTESIANSPACEKIICENERGYMATRIXAQISCALCULATEDFROMKIICENERGYMATRIXAQUSINGJACOBIANMATRIXJQ1811TΛQJQAQJQ1THEINERTIAPERCEIVEDATTHEENDEFFECTINANARBITRARYDIRECTIONUISREPRESENTEDBYEFFECTIVEMASSMUQASFOLLOWS11TMUQUΛQU2EFFECTIVEMASSMUQREPRESENTSDIRECTIONALINERTIAPROPERTYOFTHEMANIPULATATTHEENDEFFECTWITHAREDUNDANTMANIPULATSUCHASM3MOBILEROBOTEFFECTIVEMASSMUQCANBEMANIPULATEDBYCHANGINGTHECONFIGURATIONOFTHEMANIPULATEVENWHENTHEPOSITIONIENTATIONOFTHEENDEFFECTISFIXEDINCARTESIANSPACETHISFEATUREALLOWSUSTOCONTROLTHEIMPULSIVEFCEBETWEENTHEENDEFFECTTHEENVIRONMENTFAGIVENPOSEPOSITIONIENTATIONOFTHEENDEFFECTIFEFFECTIVEMASSMUQISREDUCEDTHEIMPULSIVEFCEUPONCOLLISIONCANALSOBEREDUCEDSINCETHEFCEISMAINLYDEPENDENTONTHEINERTIAVELOCITYDIFFERENCE192022CHANGEOFEFFECTIVEMASSBYNULLSPACEMOTIONFAGIVENPOSEPOSITIONIENTATIONOFTHEENDEFFECTTHECONFIGURATIONOFAREDUNDANTMANIPULATCANBECHANGEDBYGENERATINGNULLSPACEMOTIONTHEFOLLOWINGEQUATIONDEPICTSINVERSEKINEMATICSOFAREDUNDANTMANIPULAT21QJQVIJQJQΦ3HEREJQISPSEUDOINVERSEOFJACOBIANMATRIXJQΦREPRESENTSANARBITRARYJOINTMOTIONTHEMATRIXIJQJQDEFINESTHENULLSPACEASSOCIATEDWITHJQTHEVECTIJQJQΦCRESPONDSTOTHEZEROVARIA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下載積分: 6 賞幣
上傳時(shí)間:2024-03-12
頁(yè)數(shù): 15
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子文件數(shù):
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簡(jiǎn)介:WWWBZFXWCOM
下載積分: 9 賞幣
上傳時(shí)間:2024-03-12
頁(yè)數(shù): 108
大小: 2.36(MB)
子文件數(shù):
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簡(jiǎn)介:WWWJZJSCNWWWJZJSCN
下載積分: 9 賞幣
上傳時(shí)間:2024-03-12
頁(yè)數(shù): 172
大?。?6.16(MB)
子文件數(shù):
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下載積分: 6 賞幣
上傳時(shí)間:2024-03-12
頁(yè)數(shù): 13
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下載積分: 9 賞幣
上傳時(shí)間:2024-03-13
頁(yè)數(shù): 192
大小: 4.16(MB)
子文件數(shù):
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下載積分: 9 賞幣
上傳時(shí)間:2024-03-13
頁(yè)數(shù): 132
大小: 4.51(MB)
子文件數(shù):
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簡(jiǎn)介:理工類(lèi)課程系列鋼結(jié)構(gòu)作業(yè)集西北工業(yè)大學(xué)網(wǎng)絡(luò)教育學(xué)院組編何官劍編編委會(huì)主任魏生民副主任冷國(guó)偉黃建森編委鄧修瑾田英艾兵李琳李偉華楊云霞龐小寧周炯殷俊杰高寶營(yíng)黃英何官劍
下載積分: 8 賞幣
上傳時(shí)間:2024-03-12
頁(yè)數(shù): 48
大?。?0.83(MB)
子文件數(shù):
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簡(jiǎn)介:VDAQUALITTSMANAGEMENTINDERAUTOMOBILINDUSTRIEZUVERLSSIGKEITSSICHERUNGBEIAUTOMOBILHERSTELLERNUNDLIEFERANTENZUVERLSSIGKEITSMETHODENUNDHILFSMITTEL3BERARBEITETEUNDERWEITERTEAUFLAGE20003TEIL23HAFTUNGSAUSSCHLUSSVDABNDESINDEMPFEHLUNGENDIEJEDERMANNFREIZURANWENDUNGSTEHENWERSIEANWENDETHATFRDIERICHTIGEANWENDUNGIMKONKRETENFALLSGEZUTRAGENDIEVDABNDEBERCKSICHTIGENDENZUMZEITPUNKTDERJEWEILIGENAUSGABEHERRSCHENDENSTDERTECHNIKDURCHDASANWENDENDERVDAEMPFEHLUNGENENTZIEHTSICHNIEMDERVERANTWTUNGFRSEINEIGENESHELNJEDERHELTINSOWEITAUFEIGENEGEFAHREINEHAFTUNGDESVDAUNDDERJENIGENDIEANVDAEMPFEHLUNGENBETEILIGTSINDISTAUSGESCHLOSSENDERINHALTDIESESVDABESODERTEILEDAVONSINDNICHTAUTOMATISCHUNDSTILLSCHWEIGENDBESTTEILEVONLIEFERVEREINBARUNGENZWISCHENFAHRZEUGHERSTELLERUNDLIEFERANTVIELMEHRBEDARFESEINERSEPARATENSCHRIFTLICHENFESTLEGUNGZWISCHENBEIDENPARTNERNBEZGLICHDESEINSATZESBESTIMMTERZUVERLSSIGKEITSMETHODENJEDERWIRDGEBETENWENNERBEIDERANWENDUNGDERVDAEMPFEHLUNGENAUFUNRICHTIGKEITENODERDIEMGLICHKEITEINERUNRICHTIGENAUSLEGUNGSTTDIESDEMVDAUMGEHENDMITZUTEILENDAMITETWAIGEMNGELBESEITIGTWERDENKNNENNMENHINWEISEDIEIMEINZELNENMITDINNUMMERUNDAUSGABEDATUMGEKENNZEICHENNMZITATESINDMITERLAUBNISDESDINDEUTSCHESINSTITUTFRNMUNGEVWIEDERGEGEBENMAGEBENDFRDIEANWENDUNGDERNMISTDERENFASSUNGMITDEMNEUESTENAUSGABEDATUMDIEBEIDERBEUTHVERLAGGMBH10772BERLINERHLTLICHISTURHEBERRECHTSCHUTZDASWERKEINSCHLIELICHALLERSEINERTEILEISTURHEBERRECHTLICHGESCHTZTJEDEVERWERTUNGAUERHALBDERENGENGRENZENDESURHEBERRECHTSGESETZESISTOHNEZUSTIMMUNGDESVDAQMCUNZULSSIGUNDSTRAFBARDIESGILTINSBESONDEREFRVERVIELFLTIGUNGENBERSETZUNGENMIKROVERFILMUNGENUNDDIEEINSPEICHERUNGUNDVERARBEITUNGINELEKTRONISCHENSYSTEMEN
下載積分: 9 賞幣
上傳時(shí)間:2024-03-12
頁(yè)數(shù): 417
大?。?2.65(MB)
子文件數(shù):
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簡(jiǎn)介:鄭州煤炭工業(yè)(集團(tuán))楊河煤業(yè)鄭州煤炭工業(yè)(集團(tuán))楊河煤業(yè)有限公司有限公司專(zhuān)項(xiàng)審計(jì)報(bào)告專(zhuān)項(xiàng)審計(jì)報(bào)告大信專(zhuān)審字大信專(zhuān)審字2018第200697號(hào)大信會(huì)計(jì)師事務(wù)所(特殊普通合伙)大信會(huì)計(jì)師事務(wù)所(特殊普通合伙)WUYIGECERTIFIEDPUBLICACCOUNTANTSLLP2則”),并基于以下所述重要會(huì)計(jì)政策、會(huì)計(jì)估計(jì)進(jìn)行編制。(二)持續(xù)經(jīng)營(yíng)公司不存在可能導(dǎo)致對(duì)公司自報(bào)告期末起12個(gè)月內(nèi)的持續(xù)經(jīng)營(yíng)能力產(chǎn)生重大疑慮的事項(xiàng)或情況。三、重要會(huì)計(jì)政策和會(huì)計(jì)估計(jì)一遵循企業(yè)會(huì)計(jì)準(zhǔn)則的聲明本公司編制的財(cái)務(wù)報(bào)表符合企業(yè)會(huì)計(jì)準(zhǔn)則的要求,真實(shí)、完整地反映了本公司2018年6月30日的財(cái)務(wù)狀況等相關(guān)信息。二會(huì)計(jì)期間本公司會(huì)計(jì)年度為公歷年度,即每年1月1日起至12月31日止。三營(yíng)業(yè)周期本公司以一年12個(gè)月作為正常營(yíng)業(yè)周期,并以營(yíng)業(yè)周期作為資產(chǎn)和負(fù)債的流動(dòng)性劃分標(biāo)準(zhǔn)。四記賬本位幣本公司以人民幣為記賬本位幣。五現(xiàn)金及現(xiàn)金等價(jià)物的確定標(biāo)準(zhǔn)本公司在編制現(xiàn)金流量表時(shí)所確定的現(xiàn)金,是指本公司庫(kù)存現(xiàn)金以及可以隨時(shí)用于支付的存款。在編制現(xiàn)金流量表時(shí)所確定的現(xiàn)金等價(jià)物,是指持有的期限短、流動(dòng)性強(qiáng)、易于轉(zhuǎn)換為已知金額現(xiàn)金、價(jià)值變動(dòng)風(fēng)險(xiǎn)很小的投資。六應(yīng)收款項(xiàng)本公司應(yīng)收款項(xiàng)主要包括應(yīng)收賬款、長(zhǎng)期應(yīng)收款和其他應(yīng)收款。在資產(chǎn)負(fù)債表日有客觀(guān)證據(jù)表明其發(fā)生了減值的,本公司根據(jù)其賬面價(jià)值與預(yù)計(jì)未來(lái)現(xiàn)金流量現(xiàn)值之間差額確認(rèn)減值損失。1、單項(xiàng)金額重大并單項(xiàng)計(jì)提壞賬準(zhǔn)備的應(yīng)收款項(xiàng)單項(xiàng)金額重大的判斷依據(jù)或金額標(biāo)準(zhǔn)單項(xiàng)金額在前5名的應(yīng)收款項(xiàng)或其他不屬于前5名,但期末單項(xiàng)金額占應(yīng)收賬款(或其他應(yīng)收款)總額5(含5)以上的款項(xiàng)。單項(xiàng)金額重大并單項(xiàng)計(jì)提壞賬準(zhǔn)備的計(jì)提方法本公司對(duì)單項(xiàng)金額重大的應(yīng)收款項(xiàng)單獨(dú)進(jìn)行減值測(cè)試,如有客觀(guān)證據(jù)表明其已發(fā)生減值,確認(rèn)減值損失,計(jì)提壞賬準(zhǔn)備。單獨(dú)測(cè)試未發(fā)生減值的應(yīng)收款項(xiàng),包括在具有類(lèi)似信用風(fēng)險(xiǎn)特征的應(yīng)收款項(xiàng)組合中再進(jìn)行減值測(cè)試。
下載積分: 6 賞幣
上傳時(shí)間:2024-03-13
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簡(jiǎn)介:ICS9110001P30DB36江西省地方標(biāo)準(zhǔn)DB36T11522019工業(yè)與民用建筑機(jī)制砂生產(chǎn)與應(yīng)用技術(shù)規(guī)程TECHNICALSPECIFICATIONFPRODUCTIONAPPLICATIONOFMANUFACTUREDSININDUSTRIALCIVILBUILDING20190830發(fā)布20190830實(shí)施江西省市場(chǎng)監(jiān)督管理局發(fā)布DB36T11522019I目次前言II1范圍12規(guī)范性引用文件13術(shù)語(yǔ)和定義14技術(shù)要求35試驗(yàn)方法66生產(chǎn)77檢驗(yàn)88標(biāo)志、儲(chǔ)存和運(yùn)輸109機(jī)制砂混凝土1010機(jī)制砂砂漿12
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簡(jiǎn)介:碩士碩士學(xué)位論文學(xué)位論文基于ROS的工業(yè)機(jī)器人示教編程器研制DEVELOPMENTOFANINDUSTRIALROBOTTEACHPENDANTBASEDONROS高永卓高永卓哈爾濱工業(yè)大學(xué)哈爾濱工業(yè)大學(xué)2014年7月萬(wàn)方數(shù)據(jù)CLASSIFIEDINDEXTP2422UDC6218658DISSERTATIONFTHEMASTERDEGREEINENGINEERINGDEVELOPMENTOFANINDUSTRIALROBOTTEACHPENDANTBASEDONROSCIDATEGAOYONGZHUOSUPERVISPROFDUZHIJIANGACADEMICDEGREEAPPLIEDFMASTEROFENGINEERINGSPECIALITYMECHANICALENGINEERINGAFFILIATIONSCHOOLOFMECHATRONICSENGINEERINGDATEOFDEFENCEJULY2014DEGREECONFERRINGINSTITUTIONHARBININSTITUTEOFTECHNOLOGY萬(wàn)方數(shù)據(jù)
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上傳時(shí)間:2024-03-13
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簡(jiǎn)介:內(nèi)蒙古自治區(qū)興安盟內(nèi)蒙古自治區(qū)興安盟經(jīng)濟(jì)技術(shù)開(kāi)發(fā)區(qū)工業(yè)供水工程經(jīng)濟(jì)技術(shù)開(kāi)發(fā)區(qū)工業(yè)供水工程可行性研究報(bào)告可行性研究報(bào)告S101972103210內(nèi)蒙古自治區(qū)水利水電勘測(cè)設(shè)計(jì)院二○一二年四月內(nèi)蒙古自治區(qū)水利水電勘測(cè)設(shè)計(jì)院二○一二年四月工程名稱(chēng)內(nèi)蒙古自治區(qū)興安盟經(jīng)濟(jì)技術(shù)開(kāi)發(fā)區(qū)工業(yè)供水工程可行性研究報(bào)告資質(zhì)證書(shū)水利行業(yè)設(shè)計(jì)甲級(jí);水利工程咨詢(xún)甲級(jí);工程勘察綜合類(lèi)甲級(jí)完成時(shí)間2012年4月批準(zhǔn)于鐵柱審定何麗俊審核陳玉祥梁一飛唐平郭煦敏劉玲項(xiàng)目負(fù)責(zé)姚海東專(zhuān)業(yè)項(xiàng)目負(fù)責(zé)吳瑜蘇海濤陳哲郭嘉王文強(qiáng)張志強(qiáng)陳小芝李剛在徐彩芝任秀鳳校核姚海東馬寧潘宏岳趙艷紅陳哲牟全寶高偉張軍軍南燕霍順平編寫(xiě)姚海東吳瑜蘇海濤陳哲孫麗萍陳小芝王文強(qiáng)李剛在徐彩芝任秀鳳張軍軍劉妍妍王佳音鐘懿胡超參加人員姚海東吳瑜蘇海濤陳哲郭嘉趙艷紅孫麗萍陳小芝李剛在徐彩芝任秀鳳張軍軍霍順平王文強(qiáng)寇水晶王佳音王小萍
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上傳時(shí)間:2024-03-12
頁(yè)數(shù): 226
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上傳時(shí)間:2024-03-12
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